A sewer desilting robot

Abstract

The present invention relates to the technical field of sewer silting, in particular to a sewer silting robot, comprising a robot body, an outer ring surface of the robot body movably connected with a moving structure for moving in a pipeline, a side of the robot body movably connected with a water pipe for diverting water, a crushing structure for crushing sludge is arranged on the side of the robot body away from the water pipe, a buffer structure for buffering debris is arranged on the outer ring surface of the crushing structure, and a water spraying structure for spraying water is arranged on the outer ring surface of the robot body. The crushing structure is enlarged to move inside the pipeline, and the crushing structure is driven to remove the sludge on the inner wall of the pipeline, and the sludge or stones are crushed and the sludge or stones are crushed into small pieces, and then the buffer structure is driven to be conical, so as to divert the crushed stones, and then the water spraying port of the water spraying structure is driven to be enlarged, so as to increase the water output, so that large particles can contact with water to carry away and disperse the debris more easily.

Description

Technical Field

[0001] The invention relates to the technical field of sewer silt removal, and in particular to a sewer silt removal robot. Background Art

[0002] As an important urban infrastructure, the scale of the sewer network continues to grow with the expansion of the urban population. The sewage and domestic garbage (containing grease, scale, entanglement, etc.) discharged into the sewer every day, as well as the ground mud brought in by rainwater, have accumulated over the years and caused the sewer to silt up and clog. Some old sewers have more prominent siltation and blockage due to their low original design standards, which has seriously affected the normal drainage function of the sewer. Since sewer dredging generally has the problems of great construction difficulty, poor safety and high cost, the sewers in some places can only be abandoned and rebuilt.

[0003] When robots are used to remove sludge from sewers, they are equipped with high-pressure water guns to flush out the sludge with high-pressure water flow. In addition, when encountering pipes of different thicknesses, the blockage problems encountered are also different. If a thicker pipe is blocked, it is mostly large particles or harder materials. Because the flow rate of a thicker pipe is slower, some large particles or stones cannot flow with the water, which easily causes pipe blockage. In addition, the side wall of the pipe is also prone to form a harder material under the accumulation of time. If a thinner pipe is blocked, it is mostly due to the accumulation of debris over time.

[0004] Moreover, when impurities in sewer pipes are broken, they are prone to splash. If splashed onto the inner wall of the pipe, it will damage the pipe, or even cause the pipe to rupture and stick to the inner wall of the pipe again, thereby shortening the service life of the pipe and increasing the cost of pipe maintenance. In view of this, we propose a sewer dredging robot. Summary of the invention

[0005] The purpose of the present invention is to provide a sewer desilting robot to solve the problems raised in the above background technology.

[0006] To achieve the above-mentioned object, the present invention provides a sewer dredging robot, comprising a robot body, an outer ring surface of the robot body being movably connected with a moving structure for moving in a pipeline, a side of the robot body being movably connected with a water pipe for diverting water, a crushing structure for crushing sludge being arranged on a side of the robot body away from the water pipe, a buffer structure for buffering debris being arranged on the outer ring surface of the crushing structure, and a water spraying structure for spraying water being arranged on the outer ring surface of the robot body;

[0007] When encountering a thicker pipe, the mobile structure moves inside the pipe and drives the crushing structure to remove and loosen the silt on the inner wall of the pipe, and at the same time drives the crushing structure to rotate and crush the silt or stone, and then drives the buffer structure to be conical to buffer the crushed debris, and drives the water spraying structure to spray more water;

[0008] When encountering a thinner pipe, the mobile structure is deformed and moves inside the pipe, driving the crushing structure to rotate and crush the sludge, while driving the buffer structure to transport the debris and stir the sludge, and then driving the water flow sprayed by the water spraying structure to become less.

[0009] Preferably, the interior of the robot body is hollow, a surface of a moving structure movably connected to an outer annular surface of the robot body is provided with tracks, and a water pipe movably connected to a side surface of the robot body is through-connected.

[0010] Preferably, the crushing structure includes a dragon, which is fixedly connected to the side of the robot body away from the water pipe, and the side of the dragon away from the robot body is fixedly connected to an arc plate, and the outer ring surface of the arc plate is slidably connected to crushing leaves for crushing, and the end of the crushing leaf away from the arc plate is fixedly connected to a first limiting plate, and the surface of the first limiting plate is slidably connected to a scraping plate, and the side of the scraping plate away from the first limiting plate is obliquely arranged.

[0011] Preferably, the first limiting plate is also made of a composite material, the surface of the crushing blade fixedly connected to the inner wall of the first limiting plate is a blade setting, the crushing blades are respectively arranged in several groups along the center of the arc plate, and the inner part of the outer ring surface of the arc plate is provided with sliding grooves that are compatible with the crushing blades.

[0012] Preferably, the buffer structure includes a first wedge block, a side surface of the first wedge block is fixedly connected to the scraping plate, a second wedge block is arranged on the inclined surface of the first wedge block, a second limit plate is slidably connected to the outer ring surface of the second wedge block, a reset spring for resetting the second wedge block is arranged inside the second limit plate, and the length of the second limit plate is longer than that of the second wedge block.

[0013] Preferably, a telescopic plate is slidably connected to the bottom of the second limiting plate, the telescopic plate is fixedly connected to the bottom of the second wedge block, and a silicone plate is slidably connected to the outer ring surface of the telescopic plate, and the silicone plate is a deformable material.

[0014] Preferably, the water spray structure includes a water spray plate, which is fixedly connected to the outer ring surface of the robot body, and a sliding plate is slidably connected inside the water spray plate. The side of the sliding plate is fixedly connected to the telescopic plate, and water leakage holes are provided on the surfaces of the sliding plate and the water spray plate.

[0015] Preferably, the side of the silicone plate away from the sliding plate is movably connected to the first limiting plate, and the scraping plates slidably connected to the surface of the first limiting plate are all composite materials.

[0016] Preferably, five groups of the first wedge blocks, the second wedge blocks, the second limiting plates and the telescopic plates are respectively arranged along the center point of the dragon.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] 1. In this sewer dredging robot, the crushing structure becomes larger and moves inside the pipe, and drives the crushing structure to shovel the silt on the inner wall of the pipe to loosen the silt and crush the silt or stones, effectively removing the pipe blockage problem, and at the same time crushing the silt or stones into small pieces, so that the blocked debris can be better removed later, and then the buffer structure is driven to be conical, so as to guide the crushed stones and transport the debris at the same time, and then the water spray port of the water spray structure is driven to become larger, so that the water output is increased. Because the pipe is thicker and large particles or harder materials are more likely to appear, more water sources are needed during crushing, so that large particles can more easily carry away and disperse the debris when in contact with water.

[0019] 2. In this sewer desilting robot, the crushing structure drives the buffer structure to be conical to buffer the crushed debris, and drives the water flow sprayed by the water spray structure to become smaller, so as to achieve buffering of the crushed debris, effectively reduce the splashing of the crushed debris and the contact with the pipe, and reduce the secondary adhesion of the crushed sludge, and drive the water flow sprayed by the water spray structure to become smaller, thereby reducing excessive water flow to break the pipe and reduce the waste of water resources, which not only improves the service life of the pipe, but also improves the subsequent cleaning efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall structure assembly of the present invention;

[0021] Figure 2 It is a schematic diagram of the mobile structure of the present invention;

[0022] Figure 3 It is a partial schematic diagram of the crushing structure of the present invention;

[0023] Figure 4 It is a schematic diagram of the crushing structure and buffer structure of the present invention;

[0024] Figure 5 It is a schematic diagram of the split structure of the buffer structure of the present invention;

[0025] Figure 6 It is a schematic diagram of the buffer structure and the water spray structure of the present invention;

[0026] Figure 7It is a schematic diagram of the split structure of the water spray structure of the present invention;

[0027] Figure 8 It is a schematic diagram of the motion state of the crushing structure of the present invention;

[0028] Fig. 9 It is a schematic diagram of the movement state of the crushing structure and the buffer structure of the present invention;

[0029] Fig.10 It is a cross-sectional view of the crushing structure and the buffer structure of the present invention in a non-moving state;

[0030] Fig.11 It is a cross-sectional view of the movement state of the crushing structure and the buffer structure of the present invention.

[0031] The meaning of each number in the figure is:

[0032] 1. Robot body; 2. Mobile structure; 3. Water pipe; 400. Crushing structure; 401. Shoveling plate; 402. First limiting plate; 403. Crushing blade; 404. Arc plate; 405. Jiaolong; 500. Buffer structure; 501. First wedge block; 502. Second wedge block; 503. Second limiting plate; 504. Telescopic plate; 505. Silicone plate; 600. Water spraying structure; 601. Sliding plate; 602. Water spraying plate. DETAILED DESCRIPTION

[0033] The following will be combined with the accompanying drawings in the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0034] As an important infrastructure in a city, the scale of the sewer network continues to grow with the expansion of the urban population. The sewage and domestic garbage (containing grease, scale, entanglement, etc.) discharged into the sewer every day, as well as the ground mud brought in by rainwater, have accumulated over the years and caused the sewer to be silted up and blocked. Some old sewers have more prominent siltation and blockage due to their low original design standards, which seriously affects the normal drainage function of the sewer. Since sewer dredging generally has the problems of great construction difficulty, poor safety and high cost, the sewers in some places can only be abandoned and rebuilt. For details, please refer to the embodiments of the present invention. Figure 1-Figure 11A sewer desilting robot comprises a robot body 1, a moving structure 2 for moving in a pipeline is movably connected to the outer ring surface of the robot body 1, a water pipe 3 for diverting water is movably connected to the side of the robot body 1, a crushing structure 400 for crushing sludge is arranged on the side of the robot body 1 away from the water pipe 3, a buffer structure 500 for buffering debris is arranged on the outer ring surface of the crushing structure 400, and a water spraying structure 600 for spraying water is arranged on the outer ring surface of the robot body 1;

[0035] When encountering a thicker pipe, the moving structure 2 moves inside the pipe and drives the crushing structure 400 to remove the silt on the inner wall of the pipe and loosen it. At the same time, the crushing structure 400 is driven to rotate and crush the silt or stone, and then the buffer structure 500 is driven to form a cone to buffer the crushed debris, and the water spraying structure 600 is driven to spray more water.

[0036] When encountering a thinner pipe, the moving structure 2 is deformed and moves inside the pipe, and drives the crushing structure 400 to rotate and crush the sludge, and drives the buffer structure 500 to transport the debris and stir the sludge at the same time, and then drives the water flow sprayed by the water spraying structure 600 to become less;

[0037] The present invention takes into account that, when robots are used to remove sludge from sewers, high-pressure water guns are installed on the robots to flush out the sludge with high-pressure water flow. When encountering pipes of different thicknesses, the blockage problems encountered are also different. If a thicker pipe is blocked, it is all caused by large particles or harder materials. Since the flow rate of the thicker pipe is slower, some large particles or stones cannot flow with the water, which easily causes pipe blockage. In addition, the inner wall of the pipe is also prone to form harder materials due to accumulation over time. If a thinner pipe is blocked, it is all caused by the accumulation of debris over time. Since the flow rate of the thinner pipe is faster, even if a blockage occurs, it is some small particles or small stones that cannot flow, causing the pipe blockage. Therefore, the crushing structure 400 becomes larger and moves inside the pipeline through the moving structure 2, and drives the crushing structure 400 to remove the silt on the inner wall of the pipeline to loosen the silt and crush the silt or stones, effectively eliminating the pipeline blockage problem, and at the same time crushing the silt or stones into small pieces, so that the blocked debris can be taken out better later, and then the buffer structure 500 is driven to be conical, so as to guide the crushed stones and transport the debris at the same time, and then drive the water spraying structure 600 The water spraying port is enlarged to increase its water output. Because the pipeline is thicker and large particles or harder materials are more likely to appear, more water sources are needed during crushing, so that large particles can be more easily carried away and dispersed when in contact with water;

[0038] In addition, when the 3rd channel of the sewer pipe is cleaned and crushed, the sludge will splash when it is crushed. If the splashing reaches the inner wall of the pipe, it will damage the pipe, and even cause the pipe to rupture and stick to the inner wall of the pipe again, thereby shortening the service life of the pipe and increasing the maintenance cost of the pipe. Therefore, the crushing structure 400 drives the buffer structure 500 to buffer the crushed debris in a cone shape, and drives the water flow sprayed by the water spray structure 600 to become smaller, thereby achieving the buffering of the crushed debris by the crushing structure 400, effectively reducing the splashing and contact of the crushed debris with the pipe, and reducing the secondary adhesion of the crushed sludge, and driving the water flow sprayed by the water spray structure 600 to become smaller, thereby reducing the excessive water flow from breaking the pipe and reducing the waste of water resources, which not only improves the service life of the pipe, but also improves the subsequent cleaning efficiency;

[0039] In order to place the robot inside the pipeline, the following structure needs to be disclosed in detail, please refer to Figure 1 to Figure 2 The robot body 1 is hollow inside, the surface of the mobile structure 2 movably connected to the outer ring surface of the robot body 1 is provided with tracks, and the water pipe 3 movably connected to the side of the robot body 1 is through-connected;

[0040] First, the device needs to be transported to a designated location, and then the water pipe 3 that runs through the side of the robot body 1 and is movably connected is clamped, and then the robot body 1 is placed inside the pipeline. When a thicker pipeline is encountered, because the mobile structure 2 and the robot body 1 are movably connected, when the robot body 1 is placed inside the pipeline, the mobile structure 2 will be tightly attached to the pipeline, and the surface of the mobile structure 2 is provided with crawlers to prevent slipping. Then, the staff remotely controls and starts the mobile structure 2 to move inside the pipeline, and the water pipe 3 is made to flow water into the robot body 1.

[0041] In order to remove the silt stuck on the inner wall of the pipe and crush the stones mixed with the silt, the following specific structure needs to be disclosed in detail, please refer to Figures 1 to 4 The crushing structure 400 includes a dragon 405, which is fixedly connected to the side of the robot body 1 away from the water pipe 3. The side of the dragon 405 away from the robot body 1 is fixedly connected to an arc plate 404, and the outer ring surface of the arc plate 404 is slidably connected to a crushing leaf 403 for crushing. The end of the crushing leaf 403 away from the arc plate 404 is fixedly connected to a first limiting plate 402, and the surface of the first limiting plate 402 is slidably connected to a scraping plate 401, and the side of the scraping plate 401 away from the first limiting plate 402 is obliquely arranged;

[0042] When the mobile structure 2 drives the robot body 1 to move inside the pipeline, the staff can also control the robot body 1 to rotate inside the pipeline, so that the robot body 1 can rotate while moving inside the pipeline. Then, because the dragon 405 is fixedly connected to the robot body 1, the dragon 405 can be driven to rotate while moving inside the pipeline, and then the arc plate 404 can be driven to rotate, and the crushing leaves 403, the first limiting plate 402 and the scraping plate 401 can be driven to rotate synchronously. Because the staff places the robot body 1 inside the pipeline, the mobile structure 2 can automatically fit the inner wall of the pipeline, and the scraping plate 401 is a composite material (elastic and deformable), and one side of the first limiting plate 402 is inclined, so the scraping plate 401 can also fit the inner wall of the pipeline, so that when the scraping plate 401 moves and rotates, the silt or stones stuck to the inner wall of the pipeline can be removed, which is convenient for the subsequent crushing leaves 403 to crush them;

[0043] In order to achieve the crushing of the removed silt and stones, the following specific structures need to be disclosed in detail, please refer to Figures 1 to 4 The first limiting plate 402 is also made of composite material. The surface of the crushing leaf 403 fixedly connected to the inner wall of the first limiting plate 402 is provided with a blade. The crushing leaf 403 is provided with several groups along the center of the arc plate 404. The inner part of the outer ring surface of the arc plate 404 is provided with a slide groove that matches the crushing leaf 403.

[0044] When the dragon 405 rotates, the circular plate 404 is driven to rotate, and the surface of the circular plate 404 is set in an arc shape, so that the silt or stones removed by the shoveling plate 401 can be better directed to the surface of the crushing leaf 403, and when the circular plate 404 rotates, it drives the crushing leaf 403 to rotate synchronously at a high speed, and when the shoveling plate 401 removes silt or stones from the inner wall of the pipeline, they will fall into the inside of the pipeline, and then the shoveling plate 401 will move and rotate, so the debris or stones removed by the shoveling plate 401 will be crushed by the crushing leaf 403, and the crushing of silt and stones can reduce the blockage in the pipeline, making the pipeline smoother;

[0045] In order to better realize that the shovel plate 401 can better remove the silt and stones stuck to the inner wall of the pipe, the following specific structure needs to be disclosed in detail, please refer to Figures 1 to 5 The buffer structure 500 includes a first wedge block 501, the side of the first wedge block 501 is fixedly connected to the scraping plate 401, the inclined surface of the first wedge block 501 is provided with a second wedge block 502, the outer ring surface of the second wedge block 502 is slidably connected with a second limiting plate 503, the second limiting plate 503 is internally provided with a reset spring for resetting the second wedge block 502, and the length of the second limiting plate 503 is longer than the length of the second wedge block 502;

[0046] When the scraping plate 401 encounters the hard silt on the inner wall of the pipeline and cannot be scraped away, the scraping plate 401 will slide on the outer wall of the first limiting plate 402, driving the first wedge block 501 to move toward the second limiting plate 503, and then the inclined surface of the first wedge block 501 will contact the inclined surface of the second wedge block 502, and drive the second wedge block 502 to slide inside the second limiting plate 503, so that the telescopic plate 504 fixedly connected to the bottom of the second wedge block 502 is exposed, and when the first wedge When the block 501 moves the maximum distance on the surface of the second wedge block 502, it will abut against the side of the second limit plate 503. At this time, the first wedge block 501 will not move, and abut against the scraping plate 401 fixedly connected to the side of the first wedge block 501, so that when the scraping plate 401 encounters hard silt and stones that cannot be scraped away, the scraping plate 401 will always be in a state of rotating to cut the silt and stones stuck to the inner wall of the pipe, thereby reducing the scraping plate 401 being unable to scrape away when encountering hard silt or stones;

[0047] In order to protect the silt or stone crushed by the crushing structure 400 and reduce splashing to the pipeline, the following specific structure needs to be disclosed in detail, please refer to Figures 1 to 5 The bottom of the second limiting plate 503 is slidably connected with a telescopic plate 504, and the telescopic plate 504 is fixedly connected to the bottom of the second wedge block 502. The outer annular surface of the telescopic plate 504 is slidably connected with a silicone plate 505, and the silicone plate 505 is a deformable material. The second limiting plate 503 is internally connected and fixed to the outer wall of the silicone plate 505;

[0048] When the pipe is thick, the crushing structure 400 will change to fit the inner wall of the pipe. Fig.10 When the crushing structure 400 changes, the silicone plate 505 will be deformed. Since the silicone plate 505 is movably connected to the water spraying structure 600 in the direction away from the crushing structure 400, please refer to the specific Figures 4 to 5 When the sludge is removed from the inner wall of the thicker pipe, harder stones and sludge may be encountered and splashed into the pipe, so that the silicone plate 505 may be conical, which can buffer the sludge and stones after being crushed by the crushing structure 400, effectively reduce the splashing of the crushed sludge and stones into the pipe, and improve the service life of the pipe. Moreover, when the first wedge block 501 drives the second wedge block 502 to slide inside the second limit plate 503, the telescopic plate 504 may be driven to be exposed to the silicone plate 505. When the shoveling plate 401 cannot shovel harder sludge when encountering harder sludge, it indicates that the sludge is harder. In order to reduce the impact on the silicone plate 505 during the crushing process of the crushing structure 400, the telescopic plate 504 is exposed to preferentially contact the crushing structure 400 to crush the harder sludge. After the sludge is first impacted and dispersed by the telescopic plate 504, it contacts the silicone plate 505, thereby improving the service life of the silicone plate 505.

[0049] In order to achieve more water sprayed from the water spray structure 600, the following specific structure needs to be disclosed in detail, please refer to Figures 1 to 7 The water spray structure 600 includes a water spray plate 602, which is fixedly connected to the outer ring surface of the robot body 1, and a sliding plate 601 is slidably connected inside the water spray plate 602. The side of the sliding plate 601 is fixedly connected to the telescopic plate 504, and the sliding plate 601 and the water spray plate 602 are both provided with water leakage holes on their surfaces;

[0050] When the robot body 1 and the mobile structure 2 move and rotate, the water pipe 3 continuously delivers water to the inside of the robot body 1 and sprays water from the leakage holes provided in the water spray plate 602, so that the crushing structure 400 can crush the sludge more thoroughly, and can also clean the inside of the pipeline to improve the subsequent smoothness of the pipeline. When the pipeline encounters harder sludge, more water is needed to loosen the sludge. Therefore, when the shoveling plate 401 encounters harder sludge, it will drive the telescopic plate 504 to expose the surface of the silicone plate 505, and then during the movement of the telescopic plate 504, it will drive the sliding plate 601 to 602 slides inside, the water spray plate 602 is a shell-like structure interconnected with the inside of the robot body 1, and the sliding plate 601 is also a shell-like structure. When the sliding plate 601 does not slide downward, the lower part of the sliding plate 601 blocks part of the size of the water spray plate 602, and the water spray volume is small at this time. As the sliding plate 601 slides downward, the water leakage holes on the sliding plate 601 overlap with the water leakage holes on the water spray plate 602, so that water passes through the inside of the sliding plate 601 and the water leakage holes on its surface in turn, and then passes through the water leakage holes on the water spray plate 602. The water outlet size increases, the water spray volume increases, and the hard silt cannot be broken;

[0051] In order to achieve the mixing of the crushed sludge when the crushing structure 400 encounters a thinner pipe, the following specific structure needs to be disclosed in detail. The side of the silica gel plate 505 away from the sliding plate 601 is movably connected to the first limit plate 402, and the scraping plate 401 slidably connected to the surface of the first limit plate 402 is a composite material;

[0052] When encountering a thinner pipe, the scraping plate 401 and the first limiting plate 402 will shrink to Fig.11 , and when the first limit plate 402 contracts, it will drive the crushing leaf 403 to slide inside the arc plate 404, so that the crushing range can be reduced according to the size of the pipeline, not only can it adapt to pipelines of different thicknesses;

[0053] In order for the buffer structure 500 to achieve stirring of the crushed sludge, the following specific structure needs to be disclosed in detail, please refer to Figures 1 to 7 , five groups of the first wedge block 501, the second wedge block 502, the second limit plate 503, and the telescopic plate 504 are respectively arranged along the center point of the dragon 405;

[0054] When the scraping plate 401 and the first limiting plate 402 are contracted, the silicone plate 505 will be driven to be parallel to the scraping plate 401, and the telescopic plate 504 will be exposed, so that the sludge crushed by the crushing structure 400 can be stirred, which can effectively reduce the re-deposition of the crushed sludge particles at the bottom of the pipeline, keep the inside of the pipeline clean and flowing, and can also be guided to the inside of the pipeline through the dragon 405. After cleaning is completed, the mobile structure 2 and the robot body 1 can be driven to return and take the cleaned sludge out of the pipeline.

[0055] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. The above embodiments and descriptions are only preferred examples of the present invention and are not intended to limit the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A sewer desilting robot, comprising a robot body (1), characterized in that: The outer annular surface of the robot body (1) is movably connected to a moving structure (2) for moving in a pipeline, the side of the robot body (1) is movably connected to a water pipe (3), a crushing structure (400) for crushing sludge is provided on a side of the robot body (1) away from the water pipe (3), a buffer structure (500) for buffering debris is provided on the outer annular surface of the crushing structure (400), and a water spraying structure (600) is provided on the outer annular surface of the robot body (1); When the pipeline is relatively wide, the moving structure (2) drives the robot to move in the pipeline, the crushing structure (400) removes and loosens the sludge on the inner wall of the pipeline, and at the same time the crushing structure (400) rotates to crush the sludge, and then the buffer structure (500) performs a conical buffering treatment on the crushed debris, and the water spraying structure (600) increases the amount of water sprayed; When the pipeline is narrow, the moving structure (2) continues to move after being deformed, the crushing structure (400) rotates to crush the sludge, the buffer structure (500) simultaneously transports and stirs the sludge, and the water spraying structure (600) reduces the amount of water sprayed accordingly; The crushing structure (400) comprises a dragon (405), the dragon (405) being fixedly connected to the side of the robot body (1) away from the water pipe (3), the far end of the dragon (405) being fixedly connected to a circular arc plate (404), the outer ring surface of the circular arc plate (404) being slidably connected to a crushing leaf (403), the far end of the crushing leaf (403) being fixedly connected to a first limiting plate (402), the surface of the first limiting plate (402) being slidably connected to a scraping plate (401), the far end of the scraping plate (401) being arranged in an inclined surface; the first limiting plate (402) is made of composite material, the surface of the crushing leaf (403) fixedly connected to the inner side of the first limiting plate (402) is a blade-shaped structure, a plurality of groups of the crushing leaves (403) are arranged along the center of the circular arc plate (404), and the outer ring surface of the circular arc plate (404) is provided with a slide groove cooperating with the crushing leaf (403); The buffer structure (500) comprises a first wedge block (501), the first wedge block (501) is fixedly connected to the scraping plate (401), the inclined surface of the first wedge block (501) is provided with a second wedge block (502), the outer ring surface of the second wedge block (502) is slidably connected to a second limiting plate (503), a reset spring is provided inside the second limiting plate (503) for resetting the second wedge block (502), and the length of the second limiting plate (503) is greater than the second wedge block (502); the bottom of the second limiting plate (503) is slidably connected to a telescopic plate (504), the telescopic plate (504) is fixedly connected to the second wedge block (502), the outer ring surface of the telescopic plate (504) is slidably connected to a silicone plate (505), and the silicone plate (505) is made of a deformable material.

2. A sewer desilting robot according to claim 1, characterized in that: The robot body (1) is a hollow structure, the outer surface of the mobile structure (2) is provided with a crawler, and the water pipe (3) is through-connected.

3. A sewer desilting robot according to claim 1, characterized in that: The water spray structure (600) comprises a water spray plate (602), the water spray plate (602) is fixedly connected to the outer annular surface of the robot body (1), a sliding plate (601) is slidably connected inside the water spray plate (602), the sliding plate (601) is fixedly connected to the telescopic plate (504), and water leakage holes are provided on the surfaces of the sliding plate (601) and the water spray plate (602).

4. A sewer desilting robot according to claim 3, characterized in that: The far end of the silica gel plate (505) is movably connected to the first limiting plate (402), and the scraping plate (401) slidably connected to the surface of the first limiting plate (402) is made of a composite material.

5. A sewer desilting robot according to claim 4, characterized in that: The first wedge-shaped block (501), the second wedge-shaped block (502), the second limiting plate (503) and the telescopic plate (504) are respectively provided in five groups along the center point of the dragon (405).

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